| 摘要 |
A gear transmission having a short length in the axial direction is realized. The gear transmission comprises an internal gear, an external gear, a crankshaft, a two-stage gear and a second gear. A first gear is affixed to an end of the crankshaft. The crankshaft eccentrically rotates one of the internal gear and the external gear. The two-stage gear comprises a center gear and an outer-toothed ring gear. The center gear meshes with the first gear. The outer-toothed ring gear surrounds the first gear. The second gear meshes with the outer-toothed ring gear and transmits torque from a motor to the two-stage gear. The second gear is configured such that the center gear and the outer-toothed ring gear are disposed in one plane that crosses the axis of the gear transmission.
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